refactor(obstacle_cruise_planner): move slow down params to a clear l…

…ocation (#6644) move slow down params to a clear location Signed-off-by: Daniel Sanchez <[email protected]>
autowarefoundation · Mar 18, 2024 · 413514b · 413514b
1 parent 8a9965a
commit 413514b
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Showing 2 changed files with 7 additions and 4 deletions.
diff --git a/planning/obstacle_cruise_planner/config/obstacle_cruise_planner.param.yaml b/planning/obstacle_cruise_planner/config/obstacle_cruise_planner.param.yaml
@@ -16,6 +16,8 @@
       terminal_safe_distance_margin : 3.0 # Stop margin at the goal. This value cannot exceed safe distance margin. [m]
       hold_stop_velocity_threshold: 0.01 # The maximum ego velocity to hold stopping [m/s]
       hold_stop_distance_threshold: 0.3 # The ego keeps stopping if the distance to stop changes within the threshold [m]
+      slow_down_min_acc: -1.0         # slow down min deceleration [m/ss]
+      slow_down_min_jerk: -1.0        # slow down min jerk [m/sss]
 
       nearest_dist_deviation_threshold: 3.0 # [m] for finding nearest index
       nearest_yaw_deviation_threshold: 1.57 # [rad] for finding nearest index

diff --git a/planning/obstacle_cruise_planner/include/obstacle_cruise_planner/common_structs.hpp b/planning/obstacle_cruise_planner/include/obstacle_cruise_planner/common_structs.hpp
@@ -177,8 +177,8 @@ struct LongitudinalInfo
     limit_min_accel = node.declare_parameter<double>("limit.min_acc");
     limit_max_jerk = node.declare_parameter<double>("limit.max_jerk");
     limit_min_jerk = node.declare_parameter<double>("limit.min_jerk");
-    slow_down_min_accel = node.declare_parameter<double>("slow_down.min_acc");
-    slow_down_min_jerk = node.declare_parameter<double>("slow_down.min_jerk");
+    slow_down_min_accel = node.declare_parameter<double>("common.slow_down_min_acc");
+    slow_down_min_jerk = node.declare_parameter<double>("common.slow_down_min_jerk");
 
     idling_time = node.declare_parameter<double>("common.idling_time");
     min_ego_accel_for_rss = node.declare_parameter<double>("common.min_ego_accel_for_rss");
@@ -205,8 +205,9 @@ struct LongitudinalInfo
     tier4_autoware_utils::updateParam<double>(parameters, "limit.max_jerk", limit_max_jerk);
     tier4_autoware_utils::updateParam<double>(parameters, "limit.min_jerk", limit_min_jerk);
     tier4_autoware_utils::updateParam<double>(
-      parameters, "slow_down.min_accel", slow_down_min_accel);
-    tier4_autoware_utils::updateParam<double>(parameters, "slow_down.min_jerk", slow_down_min_jerk);
+      parameters, "common.slow_down_min_accel", slow_down_min_accel);
+    tier4_autoware_utils::updateParam<double>(
+      parameters, "common.slow_down_min_jerk", slow_down_min_jerk);
 
     tier4_autoware_utils::updateParam<double>(parameters, "common.idling_time", idling_time);
     tier4_autoware_utils::updateParam<double>(